Abstract
In general, high-order D-type iterative learning control (ILC) law should be taken for the controlled system with high order relative degree to ensure the convergence, but the high order differential operation is seriously influenced by measurement noise. This paper proposes a first order D-type ILC law combined with the previous best control input for the system with high order relative degree. The form of the ILC with forgetting factor is utilized to guarantee its convergence and the previous best control input is introduced to improve its convergence performance. Its sufficient convergence condition is given based on contraction mapping method. Finally, several numerical results illustrate the efficiency of the proposed method.
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